src/robot/multiplex.ts

// Fan-out adapter: drives the on-screen puppet and the real robot in
// lock-step (same targets, same durations, so they stay visually in
// sync). The command log lives here in embed mode — one entry per
// program action regardless of how many robots execute it.

import type { CommandLog } from "../util/log";
import type {
  LoadedEmotion,
  LoadedSound,
  PoseTargetDeg,
  RobotAdapter,
} from "./adapter";

export class MultiplexAdapter implements RobotAdapter {
  readonly kind = "multi" as const;

  constructor(
    private children: RobotAdapter[],
    private log?: CommandLog,
  ) {}

  async goto(target: PoseTargetDeg, durationSec: number, signal?: AbortSignal): Promise<void> {
    this.log?.push("goto", { target, durationSec });
    await Promise.all(this.children.map((c) => c.goto(target, durationSec, signal)));
  }

  async playEmotion(emotion: LoadedEmotion, signal?: AbortSignal): Promise<void> {
    this.log?.push("playEmotion", { id: emotion.id });
    await Promise.all(this.children.map((c) => c.playEmotion(emotion, signal)));
  }

  async playSound(sound: LoadedSound, signal?: AbortSignal): Promise<void> {
    this.log?.push("playSound", { id: sound.id });
    await Promise.all(this.children.map((c) => c.playSound(sound, signal)));
  }

  antennaTouched(): boolean {
    return this.children.some((c) => c.antennaTouched());
  }

  async stopAll(): Promise<void> {
    this.log?.push("stopAll");
    await Promise.all(this.children.map((c) => c.stopAll()));
  }

  async returnHome(): Promise<void> {
    this.log?.push("returnHome");
    await Promise.all(this.children.map((c) => c.returnHome()));
  }

  dispose(): void {
    for (const c of this.children) c.dispose();
  }
}